ADLINK Technology HSL-4XMO User Manual page 6

4.5 The role of DSP and motion ASIC ..................................... 31
4.6 Motion Control Modes........................................................ 31
Pulse Command Output ............................................... 31
Velocity Mode Motion ................................................... 33
Trapezoidal Motion ....................................................... 34
S-curve Profile Motion .................................................. 37
Linear interpolation for 2-4 axes ................................... 40
Circular interpolation for 2 axes .................................... 44
Circular Interpolation with Acc/dec Time ...................... 45
Relationship between Velocity and Acceleration Time . 46
Home Return Mode ...................................................... 49
4.7 The Motor Driver Interface ................................................. 59
INP ................................................................................ 59
ALM .............................................................................. 60
ERC .............................................................................. 60
SVON and RDY ............................................................ 61
4.8 The Limit Switch Interface and I/O Status......................... 62
SD/LTC ......................................................................... 62
EL ................................................................................. 63
ORG .............................................................................. 63
4.9 The Counters ..................................................................... 64
Command Position Counter .......................................... 64
Feedback Position Counter .......................................... 65
Position Error Counter .................................................. 67
General Purpose Counter ............................................. 67
Target Position Recorder .............................................. 68
4.10 Multiple HSL-4XMO Operations......................................... 69
4.11 Change Position Or Speed On The Fly ............................. 70
Change Speed on the Fly ............................................. 70
Change Position on the Fly ........................................... 76
4.12 Position Compare .............................................................. 78
Comparators of the HSL-4XMO .................................... 78
Position Compare ......................................................... 79
4.13 Backlash Compensator and Vibration Suppression........... 82
4.14 Software Limit Function ..................................................... 83
4.15 Point Table Management................................................... 83
4.16 Motion Script Download .................................................... 84
5 Motion Creator in LinkMaster .......................................... 85
5.1 Execute Motion Creator in LinkMaster............................... 85
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